CN207833036U - A kind of novel tracking sensor - Google Patents
A kind of novel tracking sensor Download PDFInfo
- Publication number
- CN207833036U CN207833036U CN201820241680.XU CN201820241680U CN207833036U CN 207833036 U CN207833036 U CN 207833036U CN 201820241680 U CN201820241680 U CN 201820241680U CN 207833036 U CN207833036 U CN 207833036U
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- China
- Prior art keywords
- module
- amplifier
- adjustable gain
- adjustable
- connect
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Abstract
The utility model discloses a kind of novel tracking sensor, including tracking detection module and adjustable gain module, tracking detection module are connect with adjustable gain module, and adjustable gain module is connect with controller；The tracking detection module includes TCRT5000 infrared photoelectric sensors module and adjustable voltage comparator module；The adjustable gain module includes input terminal, the first amplifier, the second amplifier and output end, the output end of adjustable voltage comparator module is connect with the input terminal of adjustable gain module, the input terminal of adjustable gain module is sequentially connected the first amplifier and the second amplifier, and the second amplifier connects the output end of adjustable gain module；The output end of adjustable gain module is connect with controller.The utility model gain factor is adjustable, high sensitivity, intelligent robot quick and precisely detection of face white marker object over the ground when complicated turning, dark can be realized, to improve stability and accuracy etc. of the intelligent robot during tracking.
Description
Technical field
The utility model is related to sensor fields, more particularly to a kind of improved novel tracking sensor.
Background technology
Tracking sensor in detection field using relatively broad, especially in the tracking control aspect of intelligent robot.It follows
When detecting, the size shape of the height of infrared photocell, light condition and white marker object can all influence it to mark sensor
Sensitivity.Intelligent robot is susceptible to during tracking and jolts, and the height of infrared photocell is caused frequently to change, while outer
Boundary's light condition can change, and the size of white marker object is also difficult to determine, user is difficult to only pass through in this case
Adjustable voltage comparator module included on tracking sensor is adjusted to adapt to complicated situation, to cause intelligent robot to exist
There is large error during tracking.
Utility model content
Based on above-mentioned technical problem, the utility model provides a kind of novel tracking sensor.
Technical solution used by the utility model is：
A kind of novel tracking sensor, including tracking detection module and adjustable gain module, tracking detection module with it is adjustable
Gain module connects, and adjustable gain module connects controller；
The tracking detection module includes TCRT5000 infrared photoelectric sensors module and adjustable voltage comparator module, institute
It states TCRT5000 infrared photoelectric sensors module to connect with adjustable voltage comparator module, adjustable voltage comparator module connection two
Pole pipe；The TCRT5000 infrared photoelectric sensors module includes reception pipe and the transmitting tube for emitting infrared ray；
The adjustable gain module includes that input terminal, the first amplifier, the second amplifier and output end, adjustable voltage compare
The output end of device module is connect with the input terminal of adjustable gain module, and the input terminal of adjustable gain module and the first amplifier connect
It connects, the first amplifier is connect with the second amplifier, and the second amplifier connects the output end of adjustable gain module；Adjustable gain module
Output end connect with controller.
Preferably, the transmitting tube includes 3 pairs of photoelectric tubes, and the circuit in parallel that 3 pairs of photoelectric tubes are drawn is together.
Preferably, it is provided with slide rheostat between the first amplifier and the second amplifier.
The advantageous effects of the utility model are：
The utility model tracking sensor gain adjustable magnification, high sensitivity can realize that intelligent robot turns in complexity
Curved, the quick and precisely detection of face white marker object over the ground when dark, to improve intelligent robot in tracking
Stability, accuracy and the adaptability to complex environment in the process so that Study of Intelligent Robot Control device can detect in time
To signal, and intelligent robot is enabled to make corresponding reaction.
Due to the improved tracking sensor of the utility model have it is in parallel on three pairs of circuits, in structure it is seamless in close proximity to
TCRT5000 infrared photocells so that intelligent robot indicates that diode can one in the white marker object for crossing narrower width
It is straight to light until the last one photoelectric tube crosses white marker object, to extend the time of detection, to controller it is sufficient when
Between go receive signal；Adjustable voltage comparator module can easily adjust the detecting distance of sensor, ensure that and passed in tracking
Sensor apart from white marker object farther out in the case of can smoothly detect white marker object；Adjustable gain module can be adjusted
The power of tracking sensor output signal, when extraneous light is weaker, if the signal that photoelectric sensor receives is weaker,
Controller may be difficult to receive signal, to do the reaction to make mistake, using adjustable gain module, can put signal
Greatly, even under low light condition, the success rate of intelligent robot detection white marker object can also greatly improve.
Description of the drawings
The utility model is described in further detail with specific implementation mode below in conjunction with the accompanying drawings：
Fig. 1 is the principles of the present invention block diagram；
Fig. 2 is the constructional appearance figure of TCRT5000 infrared photoelectric sensor modules；
Fig. 3 is the circuit diagram of tracking detection module；
Fig. 4 is the circuit diagram of adjustable gain module.
Specific implementation mode
In conjunction with attached drawing, a kind of novel tracking sensor, including tracking detection module 1 and adjustable gain module 2, tracking detection
Module 1 is connect with adjustable gain module 2, and adjustable gain module 2 is connect with controller 3.The tracking detection module 1 includes
TCRT5000 infrared photoelectric sensors module 101 and adjustable voltage comparator module 102, the TCRT5000 infrared photoelectric sensings
Device module 101 is connect with adjustable voltage comparator module 102, and adjustable voltage comparator module 102 connects diode 103.It is described
TCRT5000 infrared photoelectric sensors module 101 includes reception pipe 1012 and the transmitting tube 1011 for emitting infrared ray.It is described
Adjustable gain module 2 includes input terminal 201, the first amplifier 202, the second amplifier 203 and output end 205, adjustable voltage ratio
It is connect with the input terminal 201 of adjustable gain module compared with the output end 104 of device module, the input terminal 201 of adjustable gain module and
One amplifier 202 connects, and the first amplifier 202 is connect with the second amplifier 203, and the second amplifier 203 connects adjustable gain mould
The output end 205 of block.The output end 205 of adjustable gain module is connect with controller 3.
As the further design to the utility model, the transmitting tube includes 3 pairs of photoelectric tubes, what 3 pairs of photoelectric tubes were drawn
Circuit in parallel is together.
Further, it is provided with slide rheostat 204 between the first amplifier 202 and the second amplifier 203.
In the utility model, TCRT5000 infrared photoelectric sensors module 101 and adjustable voltage comparator module 102 and phase
Powered-down road constitutes tracking detection module 1；Tracking detection module output end 104 is connect with the input terminal 201 of adjustable gain module；It can
The output end 205 of gain module is adjusted to be connected with Study of Intelligent Robot Control device.
When intelligent robot moves on the ground, the transmitting tubes 1011 of more TCRT5000 infrared photoelectric sensors modules not between
The variation of disconnected transmitting infrared detection ground color, when the infrared ray launched be not reflected back to come or be reflected back but
When insufficient strength is big, the reception pipe 1012 of more TCRT5000 infrared photoelectric sensors modules is constantly in off state, at this time may be used
Low level signal is exported after adjusting voltage comparator module 102 to carry out voltage, instruction diode 103 is constantly in extinguishing shape
State.When object to be detected is appeared in detection range, infrared ray is reflected back and intensity is sufficiently large, can trigger TCRT5000
Infrared photoelectric sensor module 101, reception pipe 1012 are connected, after adjustable voltage comparator module 102 carries out voltage relatively at this time
Low level signal is exported, instruction diode 103 is lighted.
Intelligent robot can deviate from expected implementation effect when encountering following two situations in actual moving process：
1. ambient condition is indefinite, probably occurring tracking detection module when light intensity is weaker can be defeated
Go out low level signal, but signal strength is weaker so that it cannot the case where being detected by controller.
2. when the intelligent robot speed of service is fast and white marker object width is narrow, tracking detection module can equally export
The low level signal of sufficient intensity, but signal duration be less than controller the level sampling period, cause controller that can not hold
The corresponding instruction of row.
For the first situation, adjustable gain module is added in the utility model.It is presented according to fig. 3 with Fig. 4
Circuit theory, when the output end 104 of tracking detection module 1 exports low level signal, the signal is defeated from adjustable gain module 2
Enter end 201 to be amplified by two integral operation circuits into module.When into first amplifier 202, signal is put
It is big and reversed, into second amplifier 203 after signal amplify again and reversed, signal is put after operation amplifier twice
Big certain multiple and be still low level signal, therefore controller will have bigger probability to detect signal and execute command adapted thereto.
In addition there are one slide rheostats 204, the resistance value of slide rheostat access circuit part to reflect between two amplifiers
The multiple of gain, operator can need to adjust the change output signal strength of slide rheostat 204 manually according to reality to meet
Situation needs.
For the second situation, preferred embodiment be using in parallel on three pairs of circuits, in structure it is seamless in close proximity to
TCRT5000 infrared photocells, constructional appearance are as shown in Figure 2.In three TCRT5000 infrared photocell structures in close proximity to
Longitudinal detection range of intelligent robot is expanded, while the parallel connection on three TCRT5000 infrared photocell circuits makes intelligence
Robot indicates that diode 103 can be lighted always until the last one photoelectric tube is got in the white marker object for crossing narrower width
White marker object is crossed, to extend the time of detection, goes to receive signal to the time of controller abundance.Therefore the output of signal
Time will effectively extend to level sampling period more than controller, therefore controller can execute corresponding instruction.It avoids
Because signal output time is too short causes controller that can not react the case where.
It takes or uses for reference prior art and can be realized in the part that do not addressed in aforesaid way.
It should be noted that above-described embodiment simply to illustrate that the utility model technical thought and feature, purpose
It is that technical staff can understand the content of the utility model and method and can smoothly implement, is not intended to limit the utility model
Protection domain.Every equivalent change or modification made according to the utility model content, all covers the protection in the utility model
In range.
Claims (3)
1. a kind of novel tracking sensor, it is characterised in that：Including tracking detection module and adjustable gain module, tracking detects mould
Block is connect with adjustable gain module, and adjustable gain module connects controller；
The tracking detection module includes TCRT5000 infrared photoelectric sensors module and adjustable voltage comparator module, described
TCRT5000 infrared photoelectric sensors module is connect with adjustable voltage comparator module, and adjustable voltage comparator module connects two poles
Pipe；The TCRT5000 infrared photoelectric sensors module includes reception pipe and the transmitting tube for emitting infrared ray；
The adjustable gain module includes input terminal, the first amplifier, the second amplifier and output end, adjustable voltage comparator mould
The output end of block is connect with the input terminal of adjustable gain module, and the input terminal of adjustable gain module is connect with the first amplifier, the
One amplifier is connect with the second amplifier, and the second amplifier connects the output end of adjustable gain module；Adjustable gain module it is defeated
Outlet is connect with controller.
2. a kind of novel tracking sensor according to claim 1, it is characterised in that：The transmitting tube includes 3 pairs of photoelectricity
Pipe, the circuit in parallel that 3 pairs of photoelectric tubes are drawn is together.
3. a kind of novel tracking sensor according to claim 1, it is characterised in that：Amplify in the first amplifier and second
Slide rheostat is provided between device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820241680.XU CN207833036U (en) | 2018-02-09 | 2018-02-09 | A kind of novel tracking sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820241680.XU CN207833036U (en) | 2018-02-09 | 2018-02-09 | A kind of novel tracking sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207833036U true CN207833036U (en) | 2018-09-07 |
Family
ID=63398034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820241680.XU Expired - Fee Related CN207833036U (en) | 2018-02-09 | 2018-02-09 | A kind of novel tracking sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207833036U (en) |
-
2018
- 2018-02-09 CN CN201820241680.XU patent/CN207833036U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180907 Termination date: 20190209 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |